9 #ifndef CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
10 #define CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
13 #include <boost/shared_ptr.hpp>
14 #include <boost/make_shared.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/state-base.hpp"
18 #include "crocoddyl/core/utils/to-string.hpp"
19 #include "crocoddyl/core/utils/math.hpp"
47 template <
typename _Scalar>
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 typedef _Scalar Scalar;
56 typedef typename MathBase::VectorXs VectorXs;
57 typedef typename MathBase::MatrixXs MatrixXs;
67 const std::size_t& nr = 0);
77 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u) = 0;
91 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
92 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
99 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
104 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
112 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
120 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
134 virtual void quasiStatic(
const boost::shared_ptr<DifferentialActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
135 const Eigen::Ref<const VectorXs>& x,
const std::size_t& maxiter = 100,
136 const Scalar& tol = Scalar(1e-9));
149 VectorXs
quasiStatic_x(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const VectorXs& x,
150 const std::size_t& maxiter = 100,
const Scalar& tol = Scalar(1e-9));
155 const std::size_t&
get_nu()
const;
160 const std::size_t&
get_nr()
const;
165 const boost::shared_ptr<StateAbstract>&
get_state()
const;
185 void set_u_lb(
const VectorXs& u_lb);
190 void set_u_ub(
const VectorXs& u_ub);
201 void update_has_control_limits();
204 template <
typename _Scalar>
206 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208 typedef _Scalar Scalar;
210 typedef typename MathBase::VectorXs VectorXs;
211 typedef typename MathBase::MatrixXs MatrixXs;
213 template <
template <
typename Scalar>
class Model>
216 xout(model->get_state()->get_nv()),
217 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
218 Fu(model->get_state()->get_nv(), model->get_nu()),
220 Lx(model->get_state()->get_ndx()),
222 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
223 Lxu(model->get_state()->get_ndx(), model->get_nu()),
224 Luu(model->get_nu(), model->get_nu()) {
254 #include "crocoddyl/core/diff-action-base.hxx"
256 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_